# Failed to start Stereo Camera Nodelet Source: https://forum.modalai.com/topic/74/failed-to-start-stereo-camera-nodelet Category: General Questions (https://forum.modalai.com/category/2/general-questions) Tags: ros, camera Posted: 2021-01-03 01:55:17 UTC by abdullah.sorathi Replies: 11 · Views: 3127 ## abdullah.sorathi · 2021-01-03 01:55:17 UTC I get this error every other time. for the first launch it executed perfectly but subsequent lanches throw error. Basically if it run perfectly and if i interrupt it by pressing ctrl + c and than run again it starts saying could not load nodelet. And many a time it says could not open camera ID = 2. Unable to open camera. ``` yocto:/# roslaunch voxl_cam_ros stereo.launch ... logging to /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/roslaunch-apq8096-4987.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.42.0.157:48704/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /stereo/stereo_cam_nodelet/cam_id: 2 * /stereo/stereo_cam_nodelet/cam_name: stereo * /stereo/stereo_cam_nodelet/format: 1 * /stereo/stereo_cam_nodelet/frame_id: left_stereo * /stereo/stereo_cam_nodelet/frame_id_right: right_stereo * /stereo/stereo_cam_nodelet/frame_rate: 15 * /stereo/stereo_cam_nodelet/height: 480 * /stereo/stereo_cam_nodelet/is_cam_master: True * /stereo/stereo_cam_nodelet/is_stereo: True * /stereo/stereo_cam_nodelet/skip_n_frames: 0 * /stereo/stereo_cam_nodelet/width: 640 NODES /stereo/ stereo_cam_nodelet (nodelet/nodelet) stereo_nodelet_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [5006] ROS_MASTER_URI=http://localhost:11311/ setting /run_id to a0237ab4-4d5a-11eb-9155-ec5c68cd1745 process[rosout-1]: started with pid [5020] started core service [/rosout] process[stereo/stereo_nodelet_manager-2]: started with pid [5036] process[stereo/stereo_cam_nodelet-3]: started with pid [5038] [ INFO] [1609633720.545179265]: Initializing nodelet with 4 worker threads. [ INFO] [1609633720.762515687]: SnapCamDriver Starting [ INFO] [1609633720.762910065]: Monotonic offset: 1609633473.790296944 [FATAL] [1609633726.430193936]: Failed to load nodelet '/stereo/stereo_cam_nodelet` of type `voxl_cam_ros/stereo_driver` to manager `stereo_nodelet_manager' [stereo/stereo_nodelet_manager-2] process has died [pid 5036, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=stereo_nodelet_manager __log:=/home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_nodelet_manager-2.log]. log file: /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_nodelet_manager-2*.log [stereo/stereo_cam_nodelet-3] process has died [pid 5038, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load voxl_cam_ros/stereo_driver stereo_nodelet_manager __name:=stereo_cam_nodelet __log:=/home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_cam_nodelet-3.log]. log file: /home/root/.ros/log/a0237ab4-4d5a-11eb-9155-ec5c68cd1745/stereo-stereo_cam_nodelet-3*.log ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done yocto:/# ``` I even tried setting it as slave and not master as recommended over here [https://docs.modalai.com/voxl-cam-ros/](link url) but after showing ```Monotonic offset``` it throws error ## Reply by modaltb (ModalAI staff) · 2021-01-04 20:30:21 UTC Hi @abdullah-sorathi, Can you please provide us with your hardware setup? What camera(s) do you have connected? Can you also run `voxl-version` and provide us with the output? Thanks! Travis ## Reply by Chad Sweet (ModalAI staff) · 2021-01-04 20:34:54 UTC Also, only one camera can be master in the libcamera architecture. If voxl-vision-px4 has VOA enabled, and is using the stereo cameras, is_cam_master needs to be set to **false**. In the log above is_cam_master is set to true ## Reply by abdullah.sorathi · 2021-01-04 21:17:11 UTC (in reply to modaltb) @modaltb I am using voxl-flight deck cameras are same that comes with flight deck-> stereo camera, hires and optical flow camera This is the voxl version currently in use in my setup ``` yocto:/# voxl-version -------------------------------------------------------------------------------- system-image: ModalAI 2.5.2 BUILDER: ekatzfey BUILD_TIME: 2020-08-24_00:08 kernel: #1 SMP PREEMPT Wed Sep 9 22:28:09 UTC 2020 3.18.71-perf factory-bundle: 1.0.1 -------------------------------------------------------------------------------- architecture: aarch64 processor: apq8096 os: GNU/Linux -------------------------------------------------------------------------------- voxl-suite: Package: voxl-suite Version: 0.2.0 Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3) Status: install user installed Section: base Architecture: armv7a Maintainer: james@modalai.com MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d Size: 870 Filename: voxl-suite_0.2.0.ipk Description: meta-package to install all of the voxl-suite Installed-Time: 4024 -------------------------------------------------------------------------------- yocto:/# ``` I am currently working with SNAV and followed this [https://docs.modalai.com/snapdragon-navigator/] ## Reply by abdullah.sorathi · 2021-01-05 23:11:49 UTC (in reply to Chad Sweet) @Chad-Sweet Yes I tried both setting it to true and false. But once you start launch camera and the terminated and try to launch again it does not launch. ## Reply by kiprock · 2021-05-03 22:39:50 UTC @abdullah-sorathi said in [Failed to start Stereo Camera Nodelet](/post/244): > voxl_cam_ros stereo.launch I have the same problem: ``` yocto:~# roslaunch voxl_cam_ros stereo.launch is_cam_master:=false ... logging to /home/root/.ros/log/357f3634-ac60-11eb-a8f6-ec5c68cd21c7/roslaunch-apq8096-4646.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.0.0.2:34910/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /stereo/stereo_cam_nodelet/cam_id: 2 * /stereo/stereo_cam_nodelet/cam_name: stereo * /stereo/stereo_cam_nodelet/format: 1 * /stereo/stereo_cam_nodelet/frame_id: left_stereo * /stereo/stereo_cam_nodelet/frame_id_right: right_stereo * /stereo/stereo_cam_nodelet/frame_rate: 15 * /stereo/stereo_cam_nodelet/height: 480 * /stereo/stereo_cam_nodelet/is_cam_master: False * /stereo/stereo_cam_nodelet/is_stereo: True * /stereo/stereo_cam_nodelet/skip_n_frames: 0 * /stereo/stereo_cam_nodelet/width: 640 NODES /stereo/ stereo_cam_nodelet (nodelet/nodelet) stereo_nodelet_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [4665] ROS_MASTER_URI=http://localhost:11311/ setting /run_id to 357f3634-ac60-11eb-a8f6-ec5c68cd21c7 process[rosout-1]: started with pid [4678] started core service [/rosout] process[stereo/stereo_nodelet_manager-2]: started with pid [4691] process[stereo/stereo_cam_nodelet-3]: started with pid [4696] [ INFO] [1620081479.191290494]: Initializing nodelet with 4 worker threads. [ INFO] [1620081479.450798205]: SnapCamDriver Starting [ INFO] [1620081479.451256697]: Monotonic offset: 1620078140.011942802 libcam.enable.publish 1 libcam.enable.publish.dump 0 libcam.publish.buffer.policy max libcam.publish.buffer.max 3 libcam.debug.level info libcam.dump.dir /data/misc/camera/dumps ERROR: could not open camera subscriber for cam id 2 [ERROR] [1620081496.766822127]: CameraManager::Initialize() failed [ERROR] [1620081496.767214629]: Unable to open camera. ``` Any suggestion on debugging? ## Reply by Chad Sweet (ModalAI staff) · 2021-05-03 23:21:17 UTC The two likely reasons for this error: - incorrect camera ID - is_cam_master not set properly. If you are not running anything that uses the stereo camera, is_cam_master should be true You can check the configured camera IDs by: ``` cat /etc/modalai/camera_env.sh ``` ## Reply by kiprock · 2021-05-04 00:01:18 UTC If I set to true, it does launch but I cannot see any frame data coming out. I can for the other cameras though. Here is the output of cat /etc/modalai/camera_env.sh ``` export CAM_CONFIG_ID=3 export HIRES_CAM_ID=0 export TRACKING_CAM_ID=1 export STEREO_CAM_ID=2 export TOF_CAM_ID=-1 ``` I replaced the stereo camera kit (ordered from you guys). Cannot get the RTSP stream to show anything on VLC either, 0 and 1 works but not 2: ``` yocto:/etc/snav# voxl-rtsp -c 2 Camera number: 2 Simple RTSP starting Connected Started camera 2 Created session Video track created Updated camera parameters AE Mode: 1, Exposure: 19425, Gain: 100, AWB Mode: 1 rtsp://10.0.0.2:8900/live Started session Ctrl-c or 'kill 4287' to end ``` ## Reply by Chad Sweet (ModalAI staff) · 2021-05-04 00:11:16 UTC Are you sure they are all plugged in correctly? Does pin 1 on the stereo flex align for both connecting to the PCB and each sensor to the flex? ## Reply by kiprock · 2021-05-04 00:17:53 UTC (in reply to Chad Sweet) @Chad-Sweet Pretty sure everything is connected properly. Earlier today I started RTSP on the stereo cams and it was working, however I noticed that the left side was super blurry though, so I connected an old cam in it's place, which looked better, then I connected the orig back to double check that it wasn't just a blurry lens. At that point, I could not get anything. If I disconnect the cameras, I cannot run the RTSP server in mode 2, if I connect the cameras, RTSP server runs but nothing shows up in VLC. I could use some help tracking down what is happening. ## Reply by Chad Sweet (ModalAI staff) · 2021-05-04 00:40:17 UTC Hopefully you are removing power from the board before changing the camera modules? The board is not designed to handle hot-swapping of MIPI components. The connectors also are only designed for a few dozen insertions, so they are pretty delicate. In short, it seems like you had it working and then changed some components? Did anything else change? ## Reply by kiprock · 2021-05-04 00:44:52 UTC nothing else has changed.